class RobotClient(Thread):
def __init__(self, robot, adresseIP):
Thread.__init__(self)
self.robot = robot
self.adresseIP = adresseIP
self.termineeAEteEnvoyerAStation = True
self.demarrageTermine = False
self.monClient = TCPClient(self.adresseIP)
def run(self):
self.monClient._connectToServer()
while not self.demarrageTermine:
time.sleep(0.5)
print("Attends demarrage...")
self.envoyerPretAStation()
data = self.attendreCommande()
self.traiterCommande(data)
while 1:
if self.robot.pretEnvoyerLettre:
self.envoyerLettre()
time.sleep(2)
self.envoyerIndice()
time.sleep(4)
self.robot.pretEnvoyerLettre = False
elif (self.robot.tresorCapturer):
self.envoyerCaptureTresor()
time.sleep(0.2)
self.robot.tresorCapturer = False
data = self.attendreCommande()
self.traiterCommande(data)
elif (self.robot.tresorNonCapturer):
self.envoyerTresorAbsent()
time.sleep(0.2)
self.robot.tresorNonCapturer = False
data = self.attendreCommande()
self.traiterCommande(data)
elif self.robot.commandeTerminee and not self.robot.alignementEnCours:
self.envoyerTension()
time.sleep(0.2)
self.envoyerCommandeTerminee()
time.sleep(0.2)
data = self.attendreCommande()
self.traiterCommande(data)
else:
self.envoyerTension()
time.sleep(0.2)
def attendreCommande(self):
data = -1
while 1:
try:
data = self.monClient.receiveFile()
break
except Exception as e:
print e
print "Connection perdue... Tente de reconnecter..."
time.sleep(0.1)
self.monClient = TCPClient(self.adresseIP)
self.monClient._connectToServer()
if data == -1:
print("Erreur lors de la lecture du fichier")
self.termineeAEteEnvoyerAStation = False
return data
def traiterCommande(self, data):
print data
commande = data['commande']
parametre = data['parametre']
self.robot.traiterCommande(commande, parametre)
self.termineeAEteEnvoyerAStation = False
def envoyerTension(self):
RequeteJSON("tension", self.robot.tensionCondensateur)
while 1:
try:
self.monClient.sendFile()
break
except Exception as e:
print e
print "Connection perdue... Tente de reconnecter..."
time.sleep(0.1)
self.monClient = TCPClient(self.adresseIP)
self.monClient._connectToServer()
def envoyerLettre(self):
RequeteJSON("man " + self.robot.lettreObtenue, 0)
while 1:
try:
self.monClient.sendFile()
self.robot.pretEnvoyerLettre = False
break
except Exception as e:
print e
print "Connection perdue... Tente de reconnecter..."
time.sleep(0.1)
self.monClient = TCPClient(self.adresseIP)
self.monClient._connectToServer()
def envoyerIndice(self):
RequeteJSON("indice " + self.robot.indiceObtenu, 0)
while 1:
try:
self.monClient.sendFile()
break
except Exception as e:
print e
print "Connection perdue... Tente de reconnecter..."
time.sleep(0.1)
self.monClient = TCPClient(self.adresseIP)
self.monClient._connectToServer()
def envoyerCaptureTresor(self):
RequeteJSON("present", 0)
while 1:
try:
self.monClient.sendFile()
break
except Exception as e:
print e
print "Connection perdue... Tente de reconnecter..."
time.sleep(0.1)
self.monClient = TCPClient(self.adresseIP)
self.monClient._connectToServer()
self.robot.commandeTerminee = False
self.termineeAEteEnvoyerAStation = True
def envoyerTresorAbsent(self):
RequeteJSON("absent", 0)
while 1:
try:
self.monClient.sendFile()
break
except Exception as e:
print e
print "Connection perdue... Tente de reconnecter..."
time.sleep(0.1)
self.monClient = TCPClient(self.adresseIP)
self.monClient._connectToServer()
self.robot.commandeTerminee = False
self.termineeAEteEnvoyerAStation = True
def envoyerCommandeTerminee(self):
RequeteJSON("termine", 0)
while 1:
try:
self.monClient.sendFile()
break
except Exception as e:
print e
print "Connection perdue... Tente de reconnecter..."
time.sleep(0.1)
self.monClient = TCPClient(self.adresseIP)
self.monClient._connectToServer()
self.robot.commandeTerminee = False
self.termineeAEteEnvoyerAStation = True
def envoyerPretAStation(self):
RequeteJSON("robotPret", 0)
while 1:
try:
self.monClient.sendFile()
break
except Exception as e:
print e
print "Connection perdue... Tente de reconnecter..."
time.sleep(0.1)
self.monClient = TCPClient(self.adresseIP)
self.monClient._connectToServer()
time.sleep(0.1)
